CN1616920A - Active real-time three-dimensional positioning system based on binocular vision and laser distance detection - Google Patents
Active real-time three-dimensional positioning system based on binocular vision and laser distance detection Download PDFInfo
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Abstract
The 3D active real-time positioning system based on binocular vision and laser ranging consists of three parts of vision processing subsystem, control subsystem and mechanical mechanism. The target image the video camera under the control of image acquisition card obtains is processed in the vision processing computer to obtain the 2D position information in image coordinate sent to the public memory area. Then, the control computer obtains the position information from the public memory area, performs coordinate conversion and real-time programming, outputs via D/A converter board to the driver to drive the motor and controls the laser via the angle encoder feedback loop to irradiate the target accurately. Finally, the depth information the range finder measures is fed back to the vision computer to obtain the 3D position information of the target. The system has the advantages of high distance precision, high activity, high real-time performance, low cost, etc.
Description
Affiliated technical field:
The present invention obtains system for a kind of active real-time three-dimensional positional information based on binocular vision and laser ranging, belongs to Flame Image Process and automatic field, is used for quick and precisely obtaining the three dimensional local information of object.
Background technology:
At present, using binocular stereo vision is the main means that obtain the target three dimensional local information.Method commonly used is right by two camera synchronization gain stereo-pictures, according to the principle of stereoscopic vision, calculate the depth information of every bit in the public visual field of image again, generate depth map, extract the depth information of target correspondence again, determine the Three-dimension Target positional information.But all there is following problem in these equipment:
1. distance precision is low: in the past the binocular of research and multi-eye stereo vision when measuring close-in target (in 5 meters) had than higher precision (more than 1 millimeter), and be very poor even can't measure in remote (beyond 5 meters) precision.
2. initiative is poor: when the space three-dimensional scene is projected as two dimensional image in video camera, the image of same scenery under different points of view has a great difference, and all multifactor in the scene, as illumination condition, scene geometry and physical characteristics, noise and distortion and camera properties etc. are all by comprehensively in single gradation of image value.Obviously, in the image that has comprised so many unfavorable factors, be difficult to try to achieve exactly high accuracy depth information.And in application, also be not need each point is asked depth information under most of situation.Therefore, many calculating there is no need, and also lack the initiatively ability of select target.
3. operand is big, and real-time is poor: stereoscopic vision requires to find the solution each corresponding point in the stereoscopic image, and the abundant information that image comprised makes that the speed of the corresponding coupling of pointwise is very slow, and easily produces " morbid state " computational problem.Though be head it off, under the regularization framework, added certain constraint, problem is converted into ask the optimum solution of many conditional functions, but difficulty in computation and calculated amount have been increased greatly, make visual processes speed be difficult to improve, can't requirement of real time, limited application.
In order to improve the initiative of vision subsystem to the target three-dimensional localization, reduce 3 D visual image calculated amount of handling and the real-time that improves system, initiatively obtain the positional information of target fast, the invention provides a kind of method of the three dimensional local information that newly sets the goal really and use the cover positioning system that this method realizes.
Summary of the invention:
Total system is by the visual processes subsystem, and control subsystem and mechanical mechanism three parts are formed.
The visual processes subsystem is made up of visual processes computing machine (built-in image pick-up card, memo-link main card), video camera, laser range finder.Built-in image pick-up card of the present invention is installed in the PCI slot, and with the shooting function compatibility that is adopted.Memo-link is a kind of equipment that is used for two intercomputer high-speed communications, and this equipment is made up of main card and two of subcards, and with the interconnection of RS485 interface, memo-link is regarded as the common storage area of this system in the present invention.
Control subsystem comprises control computer (built-in D/A plate, memo-link subcard), driver, motor (integrated shaft-position encoder).
Mechanical mechanism by bearing and the fixed support that is used to install motor, camera and laser range finder form, have two-dimensional freedom, mainly play a part to install and support.Concrete framework is: two video cameras with the image pick-up card compatibility are fixed on the interior cuboid support of mechanical mechanism, the radiating portion of laying laser range finder in the midpoint of two video cameras is semiconductor laser just, and the receiving unit that laser range finder is installed directly over laser instrument i.e. a line array CCD that has 8 centimetres of amasthenic lens of 4 centimetres of focal lengths of diameter.Horizontal positioned one 15 watts brshless DC motor at the support bracket fastened rear of rectangular parallelepiped, and motor diameter is that 4 centimeter length are 10 centimetres of built-in shaft-position encoders, is used for drive system and rotates (Y direction) up and down to specified angle.Thereunder be a wound packages support, external diameter is 6 centimetres, and internal diameter is 4 centimetres, and one 15 watts brshless DC motor has been installed in the inside, and this motor and horizontal positioned motor are identical, is used for drive system left-right rotation (X-direction) to specified angle.
Its main technical schemes is:
Obtain the image of the place ahead target by video camera after, import image pick-up card into, is digital signal by image pick-up card with the image transitions that video camera obtains target, and obtains target position information, and it is stored in the common storage area that is installed on memo-link main card in the vision computer PCI slot.Control computer by the memo-link subcard from common storage area obtain two-dimensional position information and with visual coordinate system down the positional information of target to be converted into the generating laser be positional information under the coordinate system of initial point, calculate the controlled quentity controlled variable of target offset initial point, again the driver that respectively controlled quentity controlled variable outputed to motor of the D/A converter by 12 come drive motor to rotate and simultaneously the backfeed loop that constitutes of the shaft-position encoder by electric machine built-in control the angle that motor turns to requirement accurately---be about to transmitting terminal that target the is located in laser range finder dead ahead of semiconductor laser just, laser instrument can shine on the target to be measured exactly, the condenser lens of laser range finder receiving end converges to the reflected signal of target on the line array CCD, calculate the range information (depth information just) of target according to the output of line array CCD with triangulation, last detected depth information and two-dimensional position information feedback have just demonstrated the Three-dimension Target positional information to vision computer.
The invention has the beneficial effects as follows:
1. precision height.Laser range finder has very high precision, except can realize the precision of stereoscopic vision in the distance of closely (in 5 meters), especially when measuring the target of remote (＞5 meters), incomparable precision of stereoscopic vision and stability is arranged.
2. has initiative.In application, can ask range information one degree of depth just to interested point, and needn't the entire image pointwise be found the solution, reduce unnecessary calculating according to request for utilization.
3. cost is low.The present invention has used the structure of two CPU, and this CPU also can be with replacements such as DSP or MCU, and is lower than similar products price,
4. real-time.The depth information of target is recorded by laser range finder among the present invention, can reach the above test frequency of 100Hz.And carry out corresponding point matching without stereoscopic image, so speed is fast, real-time is very good.
5. technology is simple.Mechanical part only is made up of the mounting bracket of the motor of realizing two degree of freedom and fixing camera, laser range finder, processes, easy for installation.
And the present invention also has the little lightweight characteristics of volume, can be easy to be integrated in the other system, exists as a kind of functional unit.
Description of drawings:
Below in conjunction with drawings and Examples the utility model is further specified.
Fig. 1 is a system schematic of the present invention
Fig. 2 is the front elevation of mechanical mechanism
Fig. 3 is the vertical view of mechanical mechanism
Fig. 4 is the vision subsystem workflow diagram
Fig. 5 is the control subsystem workflow diagram
Fig. 6 is the control subsystem block diagram
Fig. 1, in 2,3: 1. target, 2. video camera, 3. the radiating portion of laser range finder semiconductor laser just, 4. the receiving unit of laser range finder is a line array CCD, 5.Y spindle motor (realization moves up and down), 6.X spindle motor (realization side-to-side movement), 7. rectangular parallelepiped support 8. visual processes computing machines (built-in image pick-up card), 9. common storage area, 10. control computer (built-in D/A plate, driver).
Embodiment:
This system realizes that the concrete steps of three-dimensional localization are as follows:
The first step: binocular camera 2 is delivered to the image pick-up card in the visual processes computing machine 8 with the image of the target in the visual field 1
Second step: image pick-up card converts picture signal to digital signal, transfers to visual processes computing machine 8 (Fig. 3) and handles, and calculates target and also this information is sent to 9 li of common storage areas at the two-dimensional position of visual plane.
The 3rd step: control computer 10 reads the position data in the common storage area 9, carries out coordinate conversion and real time kinematics planning by control program (Fig. 4) according to the installation site of video camera 2 and semiconductor laser transmitter 3.
The 4th step: control program is sent to drive signal the built-in D/A plate of control computer 10.The D/A plate transfers the X that gives the driver drives correspondence after the simulating signal to, and y-axis motor 5,6 makes semiconductor laser 3 accurately shine (Fig. 5) on the target 1.
The 5th step: according to the receiving unit of the reflected light that obtains from target 1 by laser range finder is the three-dimensional information that obtains target 1 after line array CCD 4 outputs can obtain the depth information of target 1 and send 8 overall treatments of visual processes computing machine to triangulation.
Claims (2)
1. quick real-time three-dimensional positioning system of the active based on binocular vision and laser ranging, it is characterized in that: it comprises the visual processes subsystem, control subsystem and mechanical mechanism three parts; Wherein the visual processes subsystem is made up of visual processes computing machine (built-in image pick-up card, common storage area), camera, laser range finder, and control subsystem comprises control computer (built-in D/A plate), driver, motor (integrated shaft-position encoder).
2. the quick real-time three-dimensional positioning system of a kind of active as claimed in claim 1 based on binocular vision and laser ranging, it is characterized in that: obtain the image of the place ahead target by video camera after, be converted into digital signal by image pick-up card, the acquisition target position information also is stored in the common storage area, control computer obtains two-dimensional position information from common storage area, and two-dimensional position information is converted into the generating laser down from visual coordinate system is under the coordinate system of initial point, calculate the controlled quentity controlled variable of target offset initial point, the driver that respectively controlled quentity controlled variable is outputed to motor by D/A converter comes drive motor to rotate again, the backfeed loop that constitutes of shaft-position encoder by electric machine built-in is controlled motor rotational alignment target to be measured accurately simultaneously, converge on the line array CCD by the reflected signal of laser range finder receiving end target, calculate the range information (depth information just) of target according to triangulation, last detected depth information and two-dimensional position information feedback just comprehensively go out the Three-dimension Target positional information to vision computer.
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